Handling appliance having an adaptive collision protection system

US11878430B2 · kind B2 · utility

Assignee

• Robert Bosch GmbH · DE

Inventors

• Andreas Rueb · Tamm, DE
• Simon Bock · Reutlingen, DE

Key dates

• Filing date: Sep 30, 2021
• Grant date: Jan 23, 2024
• Expiry date: May 18, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/39574
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A handling appliance, in particular a robot, includes at least one handling device that is movable in at least one direction of movement, a collision protection device configured for limiting contact forces due to collisions of the handling device with objects, and an acquisition device. The collision protection device includes a kinematic system that mechanically enables a relative movement of the handling device relative to the carrier of the handling device and that can be inhibited by at least one actuator device. The acquisition device determines forces acting on the actuator device and/or the handling device and on components of the collision protection device decoupled by the actuator device, and the collision protection device accounts for the forces and, via the actuator device, in the absence of a collision prevents, and in the case of a collision triggers and/or enables, relative movement of the handling device relative to the carrier.